Self-Localization of Mobile Robot Based on Beacon Beam of TOF Laser Sensor Mounted on Pan-Tilt Actuator: Estimation Method that Combines Spot Coordinates on Laser Receiver and Odometry

Ryoji Miura; Daichi Usagawa; Keigo Noguchi; Satoshi Iwaki; Tetsushi Ikeda

doi:10.20965/jrm.2022.p0654

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JRM Vol.34 No.3 pp. 654-663

doi: 10.20965/jrm.2022.p0654

(2022)

Paper:

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Self-Localization of Mobile Robot Based on Beacon Beam of TOF Laser Sensor Mounted on Pan-Tilt Actuator: Estimation Method that Combines Spot Coordinates on Laser Receiver and Odometry

Ryoji Miura, Daichi Usagawa, Keigo Noguchi, Satoshi Iwaki, and Tetsushi Ikeda

Hiroshima City University
3-4-1 Ozukahigashi, Asaminami, Hiroshima City, Hiroshima 731-3194, Japan

Received:

May 20, 2021

Accepted:

March 25, 2022

Published:

June 20, 2022

Keywords:

time-of-flight (TOF) laser distance sensor, pan-tilt actuator, real world clicker, estimation of self-position and attitude

Abstract

We propose a method for estimating the position and attitude of a mobile robot using a laser beam. To this end, we employ the real-world clicker, which was developed by the authors and consisted of a system that uses a TOF (time of flight) laser sensor mounted on a pan-tilt actuator to measure the three-dimensional position of the laser spot. A laser receiver was mounted on top of the mobile robot, and the position of the laser spot was measured by both the camera installed below the receiver and real-world clicker. We propose an algorithm that allows the estimation of the robot’s self-position and attitude while the robot is in motion by combining the use of odometry, and validate it through simulations and experiments.

Robot and setup used in experiment

Cite this article as:

R. Miura, D. Usagawa, K. Noguchi, S. Iwaki, and T. Ikeda, “Self-Localization of Mobile Robot Based on Beacon Beam of TOF Laser Sensor Mounted on Pan-Tilt Actuator: Estimation Method that Combines Spot Coordinates on Laser Receiver and Odometry,” J. Robot. Mechatron., Vol.34 No.3, pp. 654-663, 2022.

Data files:

References

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[2] J. Tremblay, T. To, B. Sundaralingam, Y. Xiang, D. Fox, and S. Birchfield, “Deep object pose estimation for semantic robotic grasping of household objects,” Conf. on Robot Learning (CoRL), October 29-31, Zürich, 2018.
[3] Z. Dong, S. Liu, T. Zhou, H. Cheng, L. Zeng, X. Yu, and H. Liu, “PPR-Net: point-wise pose regression network for instance segmentation and 6D pose estimation in bin-picking scenarios,” IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), November 4-8, Macau, China, 2019.
[4] Y. Abiko, Y. Hidaka, K. Sato, S. Iwaki, and T. Ikeda, “Real World Click with a TOF Laser Sensor Set on a Pan-tilt Actuator and Its Application for Teaching a Life Support Robot,” Trans. of the Society of Instrument and Control Engineers, Vol.52, No.11, pp. 614-624, doi: 10.9746/sicetr.52.614, 2016.
[5] K. Sato, Y. Hidaka, S. Iwaki, and T. Ikeda, “Pointing Performance Improvement of Real World Clicker System with a TOF Laser Sensor Set on a Pan-tilt Actuator – Proposal of Laser Spot Marker in the Viewing Window –,” Trans. of the Society of Instrument and Control Engineers, Vol.54, No.2, pp. 290-297, doi: 10.9746/sicetr.54.290, 2018.
[6] S. Fukui et al., “Object Grasping Instructions to Support Robot by Laser Beam One Drag Operations,” J. Robot. Mechatron., Vol.33, No.4, pp. 756-767, doi: 10.20965/jrm.2021.p0756, 2021.
[7] T. Tumura, N. Fujiwara, M. Hashimoto, and T. Tang, “A New Method of Vehicle Position and Heading Measurement by use of a Laser-Beacon,” J. of the Robotics Society of Japan, Vol.2, No.6, pp. 557-565, 1984.
[8] T. Tumura, N. Fujiwara, and M. Hashimoto, “A Method of Position and Heading Measurements for Vehicle Travelling on Two-Dimensional Space Using Laser and Corner Cubes,” Systems and Controls, Vol.29, No.8, pp. 553-560, 1985.
[9] M. Hashimoto, F. Oba, Y. Fujikawa, K. Imamaki, and T. Nishida, “Position Estimation Method for Wheeled Mobile Robot by Integrating Laser Navigation and Dead Reckoning Systems,” J. of the Robotics Society of Japan, Vol.11, No.7, pp. 1028-1038, 1993.
[10] M. Hashimoto, N. Matsuo, and F. Oba, “3D Positioning Method for Mobile Robot Using Laser and Tilting Reflectors,” Trans. of the Japan Society of Mechanical Engineers, C, Vol.68, No.665, pp. 173-180, 2002.
[11] K. Tanaka, M. Kajitani, C. Kanamori, and Y. Abe, “Development of a Construction Robot for Marking on Ceiling Boards (3rd Report, Prototype of the Laser Pointer System),” Trans. of the Japan Society of Mechanical Engineers, C, Vol.69, No.679, pp. 676-682, 2003.
[12] K. Hara, S. Maeyama, and Y. Tanaka, “Mobile Robot Navigation Using Trajectory of Laser Spot,” Trans. of the Japan Society of Mechanical Engineers, C, Vol.74, No.738, pp. 353-358, 2008.
[13] S. Thrun, W. Burgard, and D. Fox, “Probabilistic Robotics,” The MIT Press, Cambridge, 2005.
[14] M. Tomonou and Y. Hara, “Current and Future Directions in SLAM,” Systems, Control and Information, Vol.64, No.2, pp. 45-50, 2020.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] K. Kleeberger and M. F. Huber, “Single shot 6D object pose estimation,” IEEE Int. Conf. on Robotics and Automation (ICRA), May 31 to June 4, Paris, France, 2020.

[2] [2] J. Tremblay, T. To, B. Sundaralingam, Y. Xiang, D. Fox, and S. Birchfield, “Deep object pose estimation for semantic robotic grasping of household objects,” Conf. on Robot Learning (CoRL), October 29-31, Zürich, 2018.

[3] [3] Z. Dong, S. Liu, T. Zhou, H. Cheng, L. Zeng, X. Yu, and H. Liu, “PPR-Net: point-wise pose regression network for instance segmentation and 6D pose estimation in bin-picking scenarios,” IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), November 4-8, Macau, China, 2019.

[4] [4] Y. Abiko, Y. Hidaka, K. Sato, S. Iwaki, and T. Ikeda, “Real World Click with a TOF Laser Sensor Set on a Pan-tilt Actuator and Its Application for Teaching a Life Support Robot,” Trans. of the Society of Instrument and Control Engineers, Vol.52, No.11, pp. 614-624, doi: 10.9746/sicetr.52.614, 2016.

[5] [5] K. Sato, Y. Hidaka, S. Iwaki, and T. Ikeda, “Pointing Performance Improvement of Real World Clicker System with a TOF Laser Sensor Set on a Pan-tilt Actuator – Proposal of Laser Spot Marker in the Viewing Window –,” Trans. of the Society of Instrument and Control Engineers, Vol.54, No.2, pp. 290-297, doi: 10.9746/sicetr.54.290, 2018.

[6] [6] S. Fukui et al., “Object Grasping Instructions to Support Robot by Laser Beam One Drag Operations,” J. Robot. Mechatron., Vol.33, No.4, pp. 756-767, doi: 10.20965/jrm.2021.p0756, 2021.

[7] [7] T. Tumura, N. Fujiwara, M. Hashimoto, and T. Tang, “A New Method of Vehicle Position and Heading Measurement by use of a Laser-Beacon,” J. of the Robotics Society of Japan, Vol.2, No.6, pp. 557-565, 1984.

[8] [8] T. Tumura, N. Fujiwara, and M. Hashimoto, “A Method of Position and Heading Measurements for Vehicle Travelling on Two-Dimensional Space Using Laser and Corner Cubes,” Systems and Controls, Vol.29, No.8, pp. 553-560, 1985.

[9] [9] M. Hashimoto, F. Oba, Y. Fujikawa, K. Imamaki, and T. Nishida, “Position Estimation Method for Wheeled Mobile Robot by Integrating Laser Navigation and Dead Reckoning Systems,” J. of the Robotics Society of Japan, Vol.11, No.7, pp. 1028-1038, 1993.

[10] [10] M. Hashimoto, N. Matsuo, and F. Oba, “3D Positioning Method for Mobile Robot Using Laser and Tilting Reflectors,” Trans. of the Japan Society of Mechanical Engineers, C, Vol.68, No.665, pp. 173-180, 2002.

[11] [11] K. Tanaka, M. Kajitani, C. Kanamori, and Y. Abe, “Development of a Construction Robot for Marking on Ceiling Boards (3rd Report, Prototype of the Laser Pointer System),” Trans. of the Japan Society of Mechanical Engineers, C, Vol.69, No.679, pp. 676-682, 2003.

[12] [12] K. Hara, S. Maeyama, and Y. Tanaka, “Mobile Robot Navigation Using Trajectory of Laser Spot,” Trans. of the Japan Society of Mechanical Engineers, C, Vol.74, No.738, pp. 353-358, 2008.

[13] [13] S. Thrun, W. Burgard, and D. Fox, “Probabilistic Robotics,” The MIT Press, Cambridge, 2005.

[14] [14] M. Tomonou and Y. Hara, “Current and Future Directions in SLAM,” Systems, Control and Information, Vol.64, No.2, pp. 45-50, 2020.